CN116216341A - Automatic doffing stacking system for production line of twisting machine - Google Patents

Abstract

The application relates to a twisting machine production line automatic doffing pile up neatly system, it includes: the automatic yarn hanging device is arranged at the tail end of each twisting machine and comprises a base, a discharging conveyor and a lifting seat which are sequentially arranged on the base; the transfer device is arranged on an annular track on one side of the automatic yarn hanging device, a transfer crane which circularly walks on the annular track and a plurality of driving mechanisms for driving the transfer crane to walk, the transfer crane comprises yarn pushing rods which are arranged at intervals and yarn hanging rods which are connected to the yarn pushing rods, and the lifting seat is used for lifting the cone yarn between two adjacent yarn hanging rods; the automatic stacking workstation comprises a frame arranged below the blanking section, a receiving conveyor arranged on the frame in a sliding manner, a turning manipulator arranged at the tail end of the receiving conveyor, a stacking conveyor arranged below the turning manipulator and a stacking robot arranged on one side of the stacking conveyor. This application can promote the efficiency of section of thick bamboo yarn pile up neatly and transportation.

Description

Automatic doffing stacking system for production line of twisting machine

Technical Field

The application relates to the field of textile equipment, in particular to an automatic doffing stacking system for a twisting machine production line.

Background

A twisting machine is a textile mechanical device that twists a plurality of spun yarns into one strand. The function is to process yarn or a combined strand product into a linear product, a thread for weaving and knitting. The twisted product of the twisting machine is cone yarn, the cone yarn after twisting is output from the end part of the twisting machine, then is manually piled on a trolley, and then is transferred to a tray, and is stored in a storehouse through a forklift fork or is directly sent to the next processing position.

In carrying out the present application, the inventors have found that at least the following problems exist in this technology: utilize artifical collection cone yarn to carry out pile up neatly and transport, not only need a large amount of staff to participate in, waste time and energy moreover, inefficiency.

Disclosure of Invention

In order to promote the efficiency of section of thick bamboo yarn pile up neatly and transportation, this application provides a twisting machine production line automatic doffing pile up neatly system.

The application provides a twisting machine production line automatic doffing pile up neatly system adopts following technical scheme:

an automatic doffing and stacking system for a twisting machine production line, comprising: the automatic yarn hanging device is arranged at the tail end of each twisting machine and comprises a base, a discharging conveyor and a lifting seat which are sequentially arranged on the base;

the automatic yarn hanging device comprises an annular track on one side of the automatic yarn hanging device, a transferring crane which circularly walks on the annular track and a plurality of driving mechanisms which drive the transferring crane to walk, wherein the annular track comprises a feeding section, a discharging section and a connecting section which connects the feeding section and the discharging section, the automatic yarn hanging device is arranged at the bottom of the feeding section along the length direction of the feeding section, the transferring crane comprises yarn pushing rods which are arranged at intervals and yarn hanging rods which are connected to the yarn pushing rods, the yarn pushing rods are vertically arranged, the yarn hanging rods are horizontally arranged, the yarn hanging rods are arranged along the length direction of the transferring crane, the lifting seat is used for lifting bobbin yarns between two adjacent yarn hanging rods, in the movement process of the transferring crane, the yarn hanging rods are in plug-in fit with the barrels of the bobbin yarns and take away the bobbin yarns, and the driving mechanisms are arranged along the annular track;

the automatic stacking workstation comprises a frame arranged below the blanking section, a material receiving conveyor arranged on the frame in a sliding manner, a material turning manipulator arranged at the tail end of the material receiving conveyor, a stacking conveyor arranged below the material turning manipulator and a stacking robot arranged on one side of the stacking conveyor, wherein the material receiving conveyor slides along the vertical direction, when the cone yarn reaches the upper part of the material receiving conveyor, the material receiving conveyor ascends to support the cone yarn on the yarn hanging rod, and the cone yarn is conveyed by utilizing a speed faster than the movement speed of the transfer crane, the material turning manipulator is used for turning and placing the cone yarn at the tail end of the material receiving conveyor on the stacking conveyor, and the stacking robot is used for placing the cone yarn on the stacking conveyor on a tray.

Through adopting above-mentioned technical scheme, driving mechanism drive transport crane circulate the walking on the annular track, a plurality of twisting machines export the section of thick bamboo yarn of accomplishing to the ejection of compact conveyer on, utilize ejection of compact conveyer to carry section of thick bamboo yarn to the elevating seat on prepare, when the yarn pole will reach the elevating seat top promptly, lift the section of thick bamboo yarn to the yarn pole place ahead of hanging through the elevating seat, the axis of section of thick bamboo yarn is parallel with the yarn pole that hangs this moment, then transport crane when continuing to walk forward, the yarn pole inserts the section of thick bamboo core tube axle of section of thick bamboo yarn to take away section of thick bamboo yarn, carry section of thick bamboo yarn to reach and connect the material conveyer top.

When the cone yarn reaches the head end of the receiving conveyor, the receiving conveyor rapidly ascends to support the cone yarn, then the receiving conveyor rapidly conveys the cone yarn, and the conveying speed is higher than the travelling speed of the transfer crane, so that the cone yarn is separated from the yarn hanging rod, and then the receiving conveyor descends to the original height. When the cone yarn reaches the tail end of the receiving conveyor, the cone yarn is grabbed by the turning manipulator, the cone yarn is turned to a state that the axis is vertical, the cone yarn is vertically placed on the stacking conveyor, finally, the cone yarn on the stacking conveyor is stacked on the tray through the stacking robot, the whole automatic doffing stacking operation is finally completed, and the cone yarn stacking and transferring efficiency is improved.

Optionally, the direction of delivery of ejection of compact conveyer is parallel with the section of thick bamboo yarn axis, the base is kept away from the vertical elevating beam that is provided with in one side of ejection of compact conveyer, the elevating socket slides and sets up on the elevating beam, the elevating socket top sets up revolving cylinder, be connected with the lifter plate on revolving cylinder's the dwang, when the elevating socket reduces to the minimum position, ejection of compact conveyer carries section of thick bamboo yarn to on the lifter plate.

Through adopting above-mentioned technical scheme, when the ejection of compact conveyer carries the section of thick bamboo yarn, make the axis of section of thick bamboo yarn parallel with direction of delivery, reduce ejection of compact conveyer and produce rolling possibility at the transportation section of thick bamboo yarn in-process, when the section of thick bamboo yarn reaches on the lifter plate, drive the lifter plate through revolving cylinder at the ascending in-process of lifter plate and rotate, make the axis of section of thick bamboo yarn parallel with the string yarn pole that will reach lifter plate top, the convenience guarantees the stability that the section of thick bamboo yarn was carried when not influencing string yarn effect.

Optionally, the lifter plate is last to articulate has the deflector, when the lifting seat descends to the lowest position, the lifter plate is less than discharge conveyor, the deflector is close to one side overlap joint of discharge conveyor is in on the base.

Through adopting above-mentioned technical scheme, when the elevating seat reduces to the minimum position, make the deflector be close to one side overlap joint of ejection of compact conveyer on the base to make the deflector form the slope, make things convenient for the section of thick bamboo yarn to slide to the deflector on under the action of gravity, reduce the section of thick bamboo yarn and carry the possibility that the jamming takes place.

Optionally, the transportation crane still includes a plurality of head and tail articulated handling poles and sets up the hanging wheel in handling pole top, the handling pole level sets up, the yarn push rod is connected the handling pole bottom, the hanging wheel is located inside the circular orbit.

Through adopting above-mentioned technical scheme, connect into the transportation crane with a plurality of head and tail articulated handling poles, conveniently transport the position that the crane passes through having the radian to connect on annular track through hanging the wheel, spacing to the handling pole, make the handling pole be difficult for breaking away from annular track, transport the crane walking through actuating mechanism drive, hang the wheel and roll in annular track inside.

Optionally, actuating mechanism is including setting up drive frame on the annular track, rotate two friction wheels that set up on the drive frame and set up driving motor on the drive frame, two leave between the friction wheel and supply the clearance that the handling pole passed through, the handling pole is located two when the friction wheel, the friction wheel with handling pole lateral wall is contradicted, driving motor is used for the drive the friction wheel rotates.

Through adopting above-mentioned technical scheme, utilize driving motor drive to contradict the friction pulley rotation of handling pole to make the handling pole move forward under the effect of frictional force, realize the drive to the transfer dolly.

Optionally, the turnover manipulator is including rotating the pivot that sets up in the frame, fixed connection in pivot pivoted upset arm and slip setting are kept away from the yarn anchor clamps of getting of pivot one end at the upset arm, the axis level of pivot set up, and with connect material conveyer direction of delivery is perpendicular, get the slip direction of yarn anchor clamps with the axis of pivot is perpendicular.

Through adopting above-mentioned technical scheme, when the section of thick bamboo yarn is carried to receiving material conveyer end, get yarn anchor clamps and slide to the direction that is close to the section of thick bamboo yarn to press from both sides the section of thick bamboo yarn and get, then the pivot drives the synchronous rotation of tilting arm, makes section of thick bamboo yarn revolute the axis rotation 270 of pivot, makes section of thick bamboo yarn be located pile up neatly conveyer top, then releases the centre gripping to section of thick bamboo yarn, makes section of thick bamboo yarn vertically place on pile up neatly conveyer.

Optionally, one side parallel arrangement of hacking conveyer has a plurality of chain conveyer, chain conveyer is used for carrying the tray of stacking bobbin yarn, chain conveyer's direction of delivery with the direction of delivery of hacking conveyer is perpendicular, the hacking robot be in the hacking conveyer with be provided with a plurality of between the chain conveyer.

Through adopting above-mentioned technical scheme, all place the tray on a plurality of chain conveyors, pile up neatly conveyer is with the forward transport of section of thick bamboo yarn, then pile up neatly robot snatchs the section of thick bamboo yarn back and pile up neatly on the tray, until the tray pile up neatly on the chain conveyor is accomplished, chain conveyor will fill the tray of section of thick bamboo yarn and to keeping away from pile up neatly conveyer's direction and carry, supplies fork truck to insert and get, then continue to place empty tray on chain conveyor, realizes incessant pile up neatly operation.

Optionally, be provided with the cylinder conveyer between stacker crane with the chain conveyer, the head end of cylinder conveyer is provided with the tray feeder, the direction of delivery of cylinder conveyer with the direction of delivery of chain conveyer is perpendicular, correspond every on the cylinder conveyer the chain conveyer all slides and is provided with the flitch, the direction of sliding of flitch with the cylinder conveyer direction of delivery is perpendicular, the cylinder conveyer top is provided with the support bracket, the stacker crane slides and sets up on the support bracket.

Through adopting above-mentioned technical scheme, utilize the tray feeder to supply empty tray to the cylinder conveyer, then empty tray is carried to chain conveyor's head end, then stops carrying to on pushing away empty tray to chain conveyor through gliding flitch, make empty tray wait for the pile up neatly. The palletizing robot is arranged on the supporting bracket in a sliding manner, so that the palletizing robot is stacked on the roller conveyor, the occupied area of equipment is reduced, and the working radius of the palletizing robot is also reduced.

Optionally, the tray feeder includes storage rack, sets up two sets of conveying chains of storage rack bottom, sets up the lifting frame and the slip setting of between two sets of conveying chains on the storage rack support the board, conveying chain's direction of delivery with roller conveyor's direction of delivery is unanimous, the lifting frame moves along vertical direction, the support board is provided with two relatively, two support board slides relatively, support board with the difference in height of conveying chain is greater than the height of tray.

Through adopting above-mentioned technical scheme, place a plurality of empty trays on conveying chain, when needing to supply with the tray, lift the tray through the lifting frame earlier, two then support plates relatively move, insert by lower supreme second tray bottom, then descend the lifting frame, place the empty tray of bottommost on conveying chain, carry single empty tray to the cylinder conveyer through conveying chain. And then the lifting frame supports the rest tray, and resets the two supporting plates, at the moment, the lifting frame drives the tray to descend to the lowest position, and the tray waits for working again.

Optionally, the discharging conveyor and the receiving conveyor are both provided with correlation type photoelectric sensors, and the correlation type photoelectric sensors are used for sensing the positions of the cone yarns.

Through adopting above-mentioned technical scheme, at the section of thick bamboo yarn in the transportation process, utilize correlation formula photoelectric sensor to respond to section of thick bamboo yarn, conveniently confirm section of thick bamboo yarn real-time position, promote the accuracy of each part work in the entire system.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the driving mechanism drives the transfer crane to circularly walk on the annular track, the manufactured cone yarns are placed on the discharge conveyor by the twisting machines, the cone yarns are conveyed to the lifting seat by the discharge conveyor to be prepared, when the yarn hanging rod reaches the upper part of the lifting seat, the cone yarns are lifted to the front part of the yarn hanging rod by the lifting seat, then the cone yarns are taken away in the process of continuously walking of the transfer crane, and the cone yarns are carried to the upper part of the receiving conveyor.

When the cone yarn reaches the head end of the receiving conveyor, the receiving conveyor rapidly ascends to support the cone yarn, then the receiving conveyor rapidly conveys the cone yarn, so that the cone yarn is separated from the yarn hanging rod, and then the receiving conveyor descends to the original height. When the cone yarn reaches the tail end of the receiving conveyor, the overturning manipulator grabs the cone yarn, so that the cone yarn is placed on the stacking conveyor, and finally, the cone yarn on the stacking conveyor is stacked on the tray through the stacking robot, so that the whole automatic doffing stacking operation is finally completed, and the cone yarn stacking and transferring efficiency is improved.

2. When the discharging conveyor conveys the cone yarns, the axis of the cone yarns is parallel to the conveying direction, the possibility that the discharging conveyor rolls in the cone yarn conveying process is reduced, when the cone yarns reach the lifting plate, the lifting plate is driven to rotate through the rotary air cylinder, the axis of the cone yarns is parallel to a yarn hanging rod which is about to reach the upper part of the lifting seat, and the stability of cone yarn conveying is guaranteed when the yarn hanging effect is not influenced.

3. When the cone yarn is conveyed to the tail end of the receiving conveyor, the yarn taking clamp slides towards the direction close to the cone yarn and clamps the cone yarn, then the rotating shaft drives the overturning arm to synchronously rotate, so that the cone yarn rotates 270 degrees around the axis of the rotating shaft, the cone yarn is positioned above the stacking conveyor, and then the clamping to the cone yarn is released, so that the cone yarn is vertically placed on the stacking conveyor.

Drawings

Fig. 1 is a schematic overall layout of an embodiment of the present application.

Fig. 2 is a schematic view showing the structure of the automatic yarn hanging device according to the embodiment of the present application.

Fig. 3 is an enlarged view at a in fig. 2.

Fig. 4 is a schematic diagram of a construction embodying a transfer crane and a drive mechanism in an embodiment of the present application.

Fig. 5 is a schematic diagram showing the overall layout of an automated palletizing workstation in an embodiment of the present application.

Fig. 6 is a schematic diagram showing the structure of the turn-up robot in the embodiment of the present application.

Fig. 7 is a schematic view showing a structure of a tray feeder in the embodiment of the present application.

Fig. 8 is a schematic diagram showing the mating relationship of a roller conveyor and a chain conveyor in an embodiment of the present application.

Reference numerals illustrate:

01. a twisting machine; 02. a tray; 03. a cone yarn; 1. an automatic yarn hanging device; 11. a base; 111. a lifting beam; 12. a discharge conveyor; 121. correlation type photoelectric sensor; 13. a lifting seat; 131. a rotary cylinder; 132. a lifting plate; 133. a guide plate; 2. a transfer device; 21. an endless track; 211. a feeding section; 212. a blanking section; 213. a connection section; 22. a transfer crane; 221. a lifting rod; 2211. a crane frame; 222. a suspension wheel; 223. a yarn pushing rod; 224. a yarn hanging rod; 23. a driving mechanism; 231. a drive rack; 232. a friction wheel; 233. a driving motor; 3. an automatic stacking workstation; 31. a frame; 32. a receiving conveyor; 33. a material turning manipulator; 331. a rotating shaft; 332. a flip arm; 333. a yarn taking clamp; 34. a palletizing conveyor; 341. a protrusion; 35. a palletizing robot; 41. a roller conveyor; 411. a pushing plate; 412. a support bracket; 42. a tray feeder; 421. a storage rack; 422. a conveyor chain; 423. a lifting frame; 424. a bearing plate; 425. a sprocket; 43. chain conveyor.

Detailed Description

The present application is described in further detail below in conjunction with figures 1-8.

The embodiment of the application discloses a twisting machine production line automatic doffing stacking system.

Referring to fig. 1 and 2, an automatic doffing stacking system for a twisting machine production line comprises an automatic yarn hanging device 1, a transfer device 2 and an automatic stacking workstation 3, wherein the automatic yarn hanging device 1 is arranged at the end part of each twisting machine 01, the automatic stacking workstation 3 is positioned at one side of the automatic yarn hanging device 1, and the transfer device 2 is positioned between the automatic yarn hanging device 1 and the automatic stacking workstation 3. The automatic yarn hanging device 1 conveys and lifts finished cone yarns 03 for carrying by the transferring device 2. The transfer device 2 carries the cone yarn 03 supplied by the automatic yarn hanging device 1 to the automatic stacking workstation 3, and the automatic stacking workstation 3 receives the cone yarn 03 of the finished product and automatically stacks the cone yarn after receiving, so that the automatic doffing stacking operation is completed.

Referring to fig. 2 and 3, each automatic yarn hanging device 1 includes a base 11, a discharging conveyor 12 and a lifting seat 13, the base 11 is located at a discharging end of the twisting machine 01, the discharging conveyor 12 is fixedly arranged on the base 11, the discharging conveyor 12 in this embodiment is a belt conveyor, an axis of a yarn bobbin 03 conveyed on the discharging conveyor 12 is horizontally arranged, and a conveying direction of the discharging conveyor 12 is parallel to the axis of the yarn bobbin 03. The lifting beam 111 is fixedly arranged on one side, far away from the discharging conveyor 12, of the base 11, the lifting beam 111 is vertically arranged, the lifting seat 13 is slidably arranged on the lifting beam 111, the lifting seat 13 slides along the vertical direction, the lifting seat 13 in the embodiment slides in two stages, and each stage of sliding of the lifting seat 13 is driven by an air cylinder and is guided and limited by a linear guide rail.

Referring to fig. 3, a rotary cylinder 131 is fixedly disposed at the top of each lifting seat 13, a lifting plate 132 is fixedly connected to a rotary rod of the rotary cylinder 131, the lifting plate 132 is horizontally disposed, a guide plate 133 is disposed on the lifting plate 132, and one side of the guide plate 133 away from the discharge conveyor 12 is hinged to the lifting plate 132.

Referring to fig. 1, 2 and 3, when the automatic yarn hanging device 1 works, the lifting seat 13 is firstly lowered to the lowest position, so that one side of the guide plate 133, which is close to the discharging conveyor 12, is lapped on the base 11, at this time, the guide plate 133 is in an inclined state, when finished yarn packages 03 are conveyed to the tail end of the discharging conveyor 12, the yarn packages 03 slide onto the guide plate 133, then the lifting seat 13 slides upwards for a small stroke, meanwhile, the lifting plate 132 is driven by the rotary cylinder 131 to rotate by 90 °, and then the yarn packages 03 are driven by the waiting machine to rise to the transfer device 2 for yarn supply.

Referring to fig. 1 and 2, the transfer device 2 includes an endless track 21, a transfer crane 22 and a driving mechanism 23, the entire endless track 21 is horizontally disposed, the endless track 21 includes a feeding section 211, a discharging section 212 and a connecting section 213, the feeding section 211 is located above the lifting base 13, the feeding section 211 and the discharging section 212 are parallel, the feeding section 211 is perpendicular to the conveying direction of the discharging conveyor 12, and the connecting section 213 connects the feeding section 211 and the discharging section 212, thereby forming a closed track. The circular rail 21 of this embodiment is a hanger rail with an opening at the bottom, and the opening is smaller than the width thereof. The annular track 21 is hoisted at the top of the factory building through a rod piece, and can be supported by arranging an upright post on the ground, and the annular track is fixed by adopting a conventional means in the prior art.

Referring to fig. 4, the transfer crane 22 includes a plurality of lifting bars 221, suspension wheels 222, a yarn pushing bar 223 and a yarn hanging bar 224, the lifting bars 221 are horizontally arranged, the lifting bars 221 are hinged end to end, one lifting wheel frame 2211 is arranged between two adjacent lifting bars 221, the lifting wheel frame 2211 is located above the lifting bars 221, a group of suspension wheels 222 are rotatably arranged on the lifting wheel frame 2211, two groups of suspension wheels 222 are arranged, the axes of the suspension wheels 222 are horizontally arranged and perpendicular to the lifting bars 221, and the suspension wheels 222 are located inside the circular track 21 and roll inside the circular track 21. The yarn pushing rods 223 are fixedly connected to the bottoms of the lifting rods 221, the yarn pushing rods 223 are vertically arranged, 2-3 lifting rods 221 are arranged between two adjacent yarn pushing rods 223 at intervals, and a blanking gap is reserved between the two adjacent yarn pushing rods 223. The yarn hanging rods 224 are fixedly arranged at the bottom end of each yarn pushing rod 223, and the yarn hanging rods 224 are arranged in parallel with the lifting rods 221.

Referring to fig. 4, the driving mechanism 23 includes a driving frame 231, friction wheels 232 and a driving motor 233, the driving frame 231 is fixedly disposed on the circular track 21, the driving frames 231 are uniformly distributed on the circular track 21, and a distance between two adjacent driving frames 231 is smaller than a length of the transfer crane 22. The friction wheels 232 are rotatably connected to the bottom of the driving frame 231, two friction wheels 232 are arranged in parallel, the axes of the friction wheels 232 are arranged vertically, and a gap for the lifting rod 221 to pass through is reserved between the two friction wheels 232. The driving motor 233 is fixedly disposed on the driving frame 231, and a motor shaft of the driving motor 233 is fixedly connected with one of the friction wheels 232 coaxially.

Referring to fig. 3, 4 and 5, when the lifting rod 221 is located between the two friction wheels 232, the two friction wheels 232 are in contact with the side wall of the lifting rod 221, and the driving motor 233 drives the friction wheels 232 to rotate, so that the transfer crane 22 walks. In the process of traveling of the transfer crane 22, the lifting seat 13 lifts the bobbin yarn 03 between two adjacent yarn hanging rods 224, and in the process of continuous movement of the transfer crane 22, the yarn hanging rods are in plug-in fit with the cylinder of the bobbin yarn 03 so as to take away the bobbin yarn 03, and the bobbin yarn 03 is transferred to the automatic stacking workstation 3.

Referring to fig. 5, the automatic palletizing station 3 includes a frame 31, a receiving conveyor 32, a turning manipulator 33, a palletizing conveyor 34, and a palletizing robot 35, the frame 31 being located below the blanking section 212. The material receiving conveyor 32 in this embodiment is a belt conveyor in the prior art, the conveying direction of the material receiving conveyor 32 is parallel to the blanking section 212, the material receiving conveyor 32 is slidably disposed on the frame 31, and the material receiving conveyor 32 is slidably driven by a cylinder and guided and limited by a linear guide rail.

Referring to fig. 6, when the transfer crane 22 moves onto the blanking section 212, the yarn spool 03 reaches above the receiving conveyor 32, and at this time, the receiving conveyor 32 rapidly rises to support the yarn spool 03 on the yarn hanging rod 224, and after the yarn spool 03 is supported, the conveying speed of the receiving conveyor 32 is faster than the moving speed of the transfer crane 22, and when the yarn spool 03 is separated from the yarn hanging rod 224, the receiving conveyor 32 descends while conveying the yarn spool 03 to the end of the receiving conveyor 32, and receiving is performed under the condition that the transfer crane 22 is not stopped.

Referring to fig. 6, the turning manipulator 33 includes a rotating shaft 331, a turning arm 332 and a yarn taking clamp 333, the rotating shaft 331 is rotatably disposed at a position on the frame 31 near the end of the material receiving conveyor 32, the rotating shaft 331 is horizontally disposed, the axis of the rotating shaft 331 is perpendicular to the conveying direction of the material receiving conveyor 32, and the rotating shaft 331 is driven by a motor fixedly mounted on the frame 31. One end of the turning arm 332 is fixedly connected to the center position of the length direction of the rotating shaft 331, the yarn taking clamp 333 is slidably arranged at the other end of the turning arm 332, the sliding direction of the yarn taking clamp 333 is vertical to the rotating shaft 331, the yarn taking clamp 333 is driven by a cylinder fixedly arranged on the turning arm 332, the cylinder body of the cylinder is fixedly connected to the turning arm 332, the yarn taking clamp 333 is directly and fixedly connected to a piston rod of the cylinder, and the yarn taking clamp 333 in the embodiment is any clamp capable of entering a barrel core tube to clamp a barrel yarn 03 in the prior art.

Referring to fig. 6, a stacking conveyor 34 is disposed on one side of the frame 31, the conveying direction of the stacking conveyor 34 is consistent with that of the receiving conveyor 32, the stacking conveyor 34 of this embodiment is a belt conveyor in the prior art, the head end of the stacking conveyor 34 is located below the turning manipulator 33, and a plurality of protrusions 341 for positioning the bobbin yarn 03 are fixedly disposed on the belt of the stacking conveyor 34.

Referring to fig. 6, when the yarn 03 is conveyed to the end of the receiving conveyor 32, the yarn taking clamp 333 slides toward the yarn 03 to clamp the yarn 03, and then the whole turning arm 332 is driven to rotate by the rotation of the rotating shaft 331, so that the yarn 03 rotates by approximately 270 °, the yarn 03 is located above the stacking conveyor 34, at this time, the axis of the yarn 03 is in a vertical state, and the yarn 03 is vertically placed on the stacking conveyor 34, and the protrusion 341 is in plug-in fit with the core of the yarn 03 to position the yarn 03.

Referring to fig. 3 and 6, in order to limit the bobbin 03 during the process of transporting the bobbin 03, rails 122 are fixedly provided at both sides of each discharge conveyor 12 and both sides of the receiving conveyor 32, so that the bobbin 03 rolls to the ground. In order to monitor the position of the bobbin yarn 03 in the process of conveying the bobbin yarn 03, the opposite-emission type photoelectric sensor 121 is fixedly arranged on each of the discharging conveyor 12, the receiving conveyor 32 and the stacking conveyor 34, the opposite-emission type photoelectric sensor 121 is utilized to sense the position of the bobbin yarn 03, and signals are transmitted to a control system of a factory, so that each device can be conveniently controlled to work on time.

Referring to fig. 5, a roller conveyor 41 is provided on one side of the stacker conveyor 34, and the roller conveyor 41 is provided in parallel with the stacker conveyor 34 in the conveyance direction. The head end of the roller conveyor 41 is provided with a tray feeder 42, a support bracket 412 is fixedly arranged above the roller conveyor 41, a plurality of palletizing robots 35 are slidably arranged on the support bracket 412, in this embodiment, one palletizing robot 35 is a robot with a bobbin yarn 03 clamp, and finished products purchased in the prior art are adopted for assembly. The sliding of the palletizing robot 35 is limited by the linear guide rail, the sliding of the palletizing robot 35 is driven by the gear rack, and the sliding direction of the palletizing robot 35 is parallel to the conveying direction of the roller conveyor 41.

Referring to fig. 5 and 7, the tray feeder 42 includes a storage rack 421, a conveyor chain 422, a lifting rack 423 and a support plate 424, the storage rack 421 is vertically disposed, the storage rack 421 is formed by welding a plurality of bars, and the storage rack 421 is used for stacking the trays 02. Two groups of chain wheels 425 are rotatably arranged at the bottom of the storage rack 421, each group of chain wheels 425 is two, the axes of the chain wheels 425 are horizontally arranged and perpendicular to the conveying direction of the roller conveyor 41, two groups of single conveying chains 422 are arranged in parallel, the conveying chains 422 are meshed with the outside of each group of two chain wheels 425, and the chain wheels 425 are driven by a motor fixedly arranged on the storage rack 421.

Referring to fig. 7, the lifting frame 423 is located between two sets of conveying chains 422, the lifting frame 423 is slidably connected to the storage frame 421, and the lifting frame 423 slides in a vertical direction. One side of the storage rack 421, which is close to the roller conveyor 41, and one side of the storage rack 421, which is far away from the roller conveyor 41, is provided with a support plate 424, the support plate 424 is slidably connected to the storage rack 421, and the two support plates 424 are horizontally moved closer to or farther away from each other, and the sliding of the support plates 424 is driven by a cylinder fixedly provided on the storage rack 421.

Referring to fig. 5 and 7, when a plurality of empty trays 02 are placed on the conveyor chain 422 and the trays 02 need to be supplied, the trays 02 are lifted up by the lifting frame 423, then the two support plates 424 are relatively moved to be inserted into the bottom of the second tray 02 from bottom to top, then the lifting frame 423 is lowered to place the lowermost empty tray 02 on the conveyor chain 422, and the single empty tray 02 is conveyed onto the roller conveyor 41 by the conveyor chain 422.

Referring to fig. 5 and 8, a plurality of chain conveyors 43 are disposed in parallel on a side of the roller conveyor 41 away from the stacking conveyor 34, in this embodiment, the conveying direction of the chain conveyors 43 is perpendicular to the conveying direction of the roller conveyor 41, a pushing plate 411 is slidably disposed on the roller conveyor 41 corresponding to each chain conveyor 43, the pushing plate 411 is located between two adjacent rollers on the roller conveyor 41, and the sliding of the pushing plate 411 is driven by an electric screw in the prior art, and the sliding direction of the pushing plate 411 is perpendicular to the conveying direction of the roller conveyor 41.

Referring to fig. 5 and 8, when the empty tray 02 on the roller conveyor 41 reaches the head end of the specified chain conveyor 43, the empty tray 02 is pushed onto the chain conveyor 43 by the pushing plate 411, then the palletizing robot 35 stacks the bobbin yarn 03 on the palletizing conveyor 34 on the empty tray 02, after the tray 02 is palletized, the chain conveyor 43 conveys the tray 02 in a direction away from the roller conveyor 41, and finally a storage area for the tray 02 is formed on the chain conveyor 43 on one side of the roller conveyor 41, and ten trays 02 can be placed in the storage area in this embodiment. Finally, the pallet 02 stacked with the yarns 03 is transported to a desired place by a forklift.

The implementation principle of the automatic doffing stacking system of the twisting machine production line is as follows: the empty trays 02 are supplied to the roller conveyor 41 by the tray supply machine 42 in advance, then the empty trays 02 are conveyed to a position near the head end of the chain conveyor 43, and the empty trays 02 are pushed onto the chain conveyor 43 by the sliding pushing plate 411, so that the empty trays 02 wait for stacking.

The driving motor 233 drives the friction wheel 232 to rotate, so that the transfer crane 22 circularly walks on the annular track 21, finished yarn packages 03 reach the discharge conveyor 12 from the end part of the twisting machine 01, and then are conveyed to the guide plate 133 by the discharge conveyor 12, the guide plate 133 is driven to rotate by the rotary air cylinder 131, so that the axis of the yarn packages 03 is parallel to the feeding end, when the yarn packages 224 are about to reach the upper part of the lifting seat 13, the yarn packages 03 are lifted to the front of the yarn packages 224 by the lifting seat 13, and in the process of continuously walking of the transfer crane 22, the yarn packages 224 are inserted into the tube core tube shaft of the yarn packages 03 and taken away by the yarn packages 03.

When the yarn 03 is carried to the head end of the receiving conveyor 32, the receiving conveyor 32 is quickly raised to support the yarn 03 and quickly convey the yarn 03, so that the yarn 03 is separated from the yarn hanging rod 224, and then the receiving conveyor 32 is lowered to the original height. When the bobbin yarn 03 reaches the tail end of the receiving conveyor 32, the turning manipulator 33 grabs the bobbin yarn 03 and drives the bobbin yarn 03 to turn over, so that the axis of the bobbin yarn 03 is in a vertical state, the bobbin yarn 03 is placed on the stacking conveyor 34, and then the bobbin yarn 03 on the stacking conveyor 34 is stacked on the hole tray 02 through the stacking robot 35, so that the whole automatic doffing stacking operation is completed.

The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims (10)

1. An automatic doffing stacking system for a twisting machine production line, which is characterized by comprising: the automatic yarn hanging device (1), wherein one automatic yarn hanging device (1) is arranged at the tail end of each twisting machine (01), and the automatic yarn hanging device (1) comprises a base (11), a discharging conveyor (12) and a lifting seat (13) which are sequentially arranged on the base (11);

the yarn feeding device comprises a transferring device (2), wherein the transferring device (2) is arranged on an annular track (21) on one side of the automatic yarn hanging device (1), a transferring crane (22) which circularly walks on the annular track (21) and a plurality of driving mechanisms (23) which drive the transferring crane (22) to walk, the annular track (21) comprises a feeding section (211), a discharging section (212) and a connecting section (213) which connects the feeding section (211) and the discharging section (212), the plurality of automatic yarn hanging devices (1) are arranged at the bottom of the feeding section (211) along the length direction of the feeding section (211), the transferring crane (22) comprises yarn pushing rods (223) which are arranged at intervals and yarn hanging rods (224) which are connected to the yarn pushing rods (223), the yarn hanging rods (224) are arranged vertically, the yarn hanging rods (224) are arranged horizontally, the lifting seats (13) are used for lifting yarn bobbins (03) to a position between two adjacent yarn hanging rods (22) and are used for carrying away yarn bobbins (03) along the yarn hanging rods (224), and the yarn hanging rods (03) are matched with the yarn hanging rods (23) in the transferring crane (23);

automatic pile up neatly workstation (3), automatic pile up neatly workstation (3) are including setting up frame (31) of unloading section (212) below, slip setting are in connect material conveyer (32) on frame (31), set up at the terminal material manipulator (33) of material conveyer (32), set up pile up neatly conveyer (34) of material manipulator (33) below and set up pile up neatly robot (35) in pile up neatly conveyer (34) one side, connect material conveyer (32) to slide along vertical direction, when bobbin (03) reach connect material conveyer (32) top, connect material conveyer (32) to rise to support bobbin (03) on yarn hanging rod (224), and utilize being faster than transport speed of crane (22) motion is carried bobbin (03), material manipulator (33) are used for with terminal bobbin (03) of material conveyer (32) are overturned and are placed pile up neatly conveyer (34), pile up neatly robot (35) are used for with pile up neatly machine (03) are on tray (02).

2. An automatic doffing and stacking system for a twisting machine production line as claimed in claim 1, wherein: the utility model discloses a yarn feeding device, including base (11), discharge conveyer (12), lifting seat (13), lifter (111), lifter (132) and lifter (132) are connected with on the dwang of revolving cylinder (131), lifter (13) reduce to the minimum position time, discharge conveyer (12) is kept away from one side of discharge conveyer (12) is vertical to be provided with lift roof beam (111), lifter (13) slip sets up on lift roof beam (111), lifter (13) top sets up revolving cylinder (131), be connected with lifter plate (132) on the dwang of revolving cylinder (131), lifter (13) are with bobbin yarn (03) carry to on lifter plate (132).

3. An automatic doffing palletizing system for a twisting machine production line as claimed in claim 2, wherein: the lifting plate (132) is hinged with a guide plate (133), when the lifting seat (13) is lowered to the lowest position, the lifting plate (132) is lower than the discharging conveyor (12), and one side, close to the discharging conveyor (12), of the guide plate (133) is lapped on the base (11).

4. An automatic doffing and stacking system for a twisting machine production line as claimed in claim 1, wherein: the transfer crane (22) further comprises a plurality of lifting rods (221) hinged end to end and a suspension wheel (222) arranged above the lifting rods (221), the lifting rods (221) are horizontally arranged, the yarn pushing rods (223) are connected to the bottoms of the lifting rods (221), and the suspension wheel (222) is located inside the annular track (21).

5. The automatic doffing and stacking system for a twisting machine production line of claim 4, wherein: the driving mechanism (23) comprises a driving frame (231) arranged on the annular track (21), two friction wheels (232) rotatably arranged on the driving frame (231) and a driving motor (233) arranged on the driving frame (231), a gap for the lifting rod (221) to pass through is reserved between the two friction wheels (232), when the lifting rod (221) is positioned between the two friction wheels (232), the friction wheels (232) are abutted against the side walls of the lifting rod (221), and the driving motor (233) is used for driving the friction wheels (232) to rotate.

6. An automatic doffing and stacking system for a twisting machine production line as claimed in claim 1, wherein: the turnover manipulator (33) comprises a rotating shaft (331) arranged on the frame (31), a turnover arm (332) fixedly connected to the rotating shaft (331) and a yarn taking clamp (333) arranged at one end of the turnover arm (332) far away from the rotating shaft (331) in a sliding manner, wherein the axis of the rotating shaft (331) is horizontally arranged and perpendicular to the conveying direction of the material receiving conveyor (32), and the sliding direction of the yarn taking clamp (333) is perpendicular to the axis of the rotating shaft (331).

7. An automatic doffing and stacking system for a twisting machine production line as claimed in claim 1, wherein: one side parallel arrangement of pile up neatly conveyer (34) is provided with a plurality of chain conveyer (43), chain conveyer (43) are used for carrying tray (02) of pile up neatly bobbin yarn (03), the direction of delivery of chain conveyer (43) with the direction of delivery of pile up neatly conveyer (34) is perpendicular, pile up neatly robot (35) be provided with a plurality of between pile up neatly conveyer (34) with chain conveyer (43).

8. The automatic doffing and stacking system for a twisting machine production line of claim 7, wherein: the stacker crane is characterized in that a roller conveyor (41) is arranged between the stacker crane (34) and the chain conveyor (43), a tray feeder (42) is arranged at the head end of the roller conveyor (41), the conveying direction of the roller conveyor (41) is perpendicular to the conveying direction of the chain conveyor (43), a pushing plate (411) is arranged on the roller conveyor (41) corresponding to each chain conveyor (43) in a sliding mode, the sliding direction of the pushing plate (411) is perpendicular to the conveying direction of the roller conveyor (41), a supporting bracket (412) is arranged above the roller conveyor (41), and the stacker crane (35) is arranged on the supporting bracket (412) in a sliding mode.

9. The automatic doffing and stacking system for a twisting machine production line of claim 8, wherein: the tray feeder (42) comprises a storage rack (421), two groups of conveying chains (422) arranged at the bottom of the storage rack (421), a lifting frame (423) arranged between the two groups of conveying chains (422) and a supporting plate (424) arranged on the storage rack (421) in a sliding manner, the conveying direction of the conveying chains (422) is consistent with that of the roller conveyor (41), the lifting frame (423) moves in the vertical direction, the supporting plates (424) are oppositely provided with two supporting plates (424) which slide relatively, and the height difference between the supporting plates (424) and the conveying chains (422) is larger than the height of the tray (02).

10. An automatic doffing and stacking system for a twisting machine production line as claimed in claim 1, wherein: and the discharge conveyor (12) and the receiving conveyor (32) are respectively provided with a correlation type photoelectric sensor (121), and the correlation type photoelectric sensors (121) are used for sensing the position of the cone yarn (03).

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